Indoor PDR Positioning Assisted by Acoustic Source Localization, and Pedestrian Movement Behavior Recognition, Using a Dual-Microphone Smartphone

Table 5

Results of the acoustic source localization experiment.

	Experiment 1	Experiment 2	Experiment 3	Experiment 4
Actual acoustic source location (m)	(3.529, 4.353)	(3.529, 4.353)	(4.048, 6.904)	(4.048, 6.904)
Measured acoustic source location (m)	(3.75, 4.125)	(3.15, 4.3)	(3.9, 7.05)	(4.15, 7.15)
Root mean square error (m)	0.3175	0.3827	0.2079	0.2663